Kinematic analysis and 3D virtual instrumentation for the Pegasus II robot
Keywords:
Robotic arm, Direct kinematics, Inverse kinematics, Virtual instrumentation, 3D rotation, Pegasus II robotAbstract
This paper describes a mathematical and logical formulation for the 3D virtual instrumentation of the Amatrol’s Pegasus II robot on Matlab, using direct position kinematics techniques and respective translational and rotational operations. A geometric-vectorial procedure is also described to solve the inverse position kinematics, allowing the robot's arm to follow a straight-line trajectory between its initial position and a given point (x, y, z). Finally, the real-time virtual instrumentation results are presented, verifying the efficiency of the procedure.
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